Diff: MA700Sensor/MA700Sensor.h

Revision:

48:1b51771c3647

Child:

52:d4d5e3414865

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MA700Sensor/MA700Sensor.h	Fri Feb 07 11:31:37 2020 +0000
@@ -0,0 +1,88 @@
+#ifndef MA700SENSOR_H
+#define MA700SENSOR_H
+#include "structs.h"
+class PositionSensor1 {
+public:
+    virtual void Sample(float dt) = 0;
+    virtual float GetMechPosition() {return 0.0f;}
+    virtual float GetMechPositionFixed() {return 0.0f;}
+    virtual float GetElecPosition() {return 0.0f;}
+    virtual float GetMechVelocity() {return 0.0f;}
+    virtual float GetElecVelocity() {return 0.0f;}
+    virtual void ZeroPosition(void) = 0;
+    virtual int GetRawPosition(void) = 0;
+    virtual void SetElecOffset(float offset) = 0;
+    virtual int GetCPR(void) = 0;
+    virtual  void WriteLUT(int new_lut[128]) = 0;
+    virtual int Gettest() {return 0;}
+    virtual int Gettest1() {return 0;}
+    virtual int Gettest2() {return 0;}
+    virtual void ReadLUT(void)=0;
+    //virtual void WriteRegister( ControllerStruct * controller)=0;
+};
+  
+ /* 
+class PositionSensorEncoder: public PositionSensor {
+public:
+    PositionSensorEncoder(int CPR, float offset, int ppairs);
+    virtual void Sample(float dt);
+    virtual float GetMechPosition();
+    virtual float GetElecPosition();
+    virtual float GetMechVelocity();
+    virtual float GetElecVelocity();
+    virtual void ZeroPosition(void);
+    virtual void SetElecOffset(float offset);
+    virtual int GetRawPosition(void);
+    virtual int GetCPR(void);
+    virtual  void WriteLUT(int new_lut[128]); 
+private:
+    InterruptIn *ZPulse;
+    DigitalIn *ZSense;
+    //DigitalOut *ZTest;
+    virtual void ZeroEncoderCount(void);
+    virtual void ZeroEncoderCountDown(void);
+    int _CPR, flag, rotations, _ppairs, raw;
+    //int state;
+    float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40];
+    int offset_lut[128];
+};
+*/
+
+class PositionSensorMA700: public PositionSensor1{
+public:
+    PositionSensorMA700(int CPR, float offset, int ppairs);
+    virtual void Sample(float dt);
+    virtual float GetMechPosition();
+    virtual float GetMechPositionFixed();
+    virtual float GetElecPosition();
+    virtual float GetMechVelocity();
+    virtual float GetElecVelocity();
+    virtual int GetRawPosition();
+    virtual void ZeroPosition();
+    virtual void SetElecOffset(float offset);
+    virtual void SetMechOffset(float offset);
+    virtual int GetCPR(void);
+    virtual void WriteLUT(int new_lut[128]);
+    virtual int Gettest();
+    virtual int Gettest1(); 
+    virtual int Gettest2(); 
+    virtual void WriteRegister( ControllerStruct * controller);
+    virtual void ReadLUT(void);
+private:
+    float position, ElecPosition,JointOffset , ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt;
+    int raw, _CPR, rotations, old_counts, _ppairs;
+    SPI *spi;
+    DigitalOut *cs;
+    int readAngleCmd;
+    int BCT;
+    int ETXY;
+    int BCTREAD;
+    int ETXYREAD;
+    int _test;
+    int _test1;
+    int _test2;
+    int offset_lut[128];
+   
+};
+
+#endif
\ No newline at end of file